BR112020000079A2 - vehicle target speed generation method and vehicle target speed generation device for vehicles with power steering - Google Patents
vehicle target speed generation method and vehicle target speed generation device for vehicles with power steering Download PDFInfo
- Publication number
- BR112020000079A2 BR112020000079A2 BR112020000079-5A BR112020000079A BR112020000079A2 BR 112020000079 A2 BR112020000079 A2 BR 112020000079A2 BR 112020000079 A BR112020000079 A BR 112020000079A BR 112020000079 A2 BR112020000079 A2 BR 112020000079A2
- Authority
- BR
- Brazil
- Prior art keywords
- vehicle
- speed
- target
- speed limit
- target speed
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
- B60W30/146—Speed limiting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/076—Slope angle of the road
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/107—Longitudinal acceleration
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/15—Road slope
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4042—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/406—Traffic density
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/103—Speed profile
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/10—Longitudinal speed
- B60W2720/106—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2300/00—Purposes or special features of road vehicle drive control systems
- B60Y2300/14—Cruise control
- B60Y2300/143—Speed control
- B60Y2300/146—Speed limiting
Abstract
A presente revelação impede que um passageiro sinta sensações desagradáveis e também evita perturbações de fluxos de tráfego durante o deslocamento com assistência de direção, em correspondência com uma variedade de estradas que possuem diferentes limites de velocidade. Um dispositivo para a geração de uma velocidade alvo do veículo de um veículo com direção autônoma (veículo com direção assistida) equipado com uma unidade de controle de direção autônoma (2) (controlador) para a geração de uma velocidade alvo do veículo de um veículo hospedeiro em conformidade com um limite de velocidade de um trajeto de deslocamento do veículo hospedeiro, em que a unidade de controle de direção autônoma (2) compreende uma unidade de aquisição de informações de limite de velocidade (22) e uma unidade de geração de velocidade alvo do veículo (23). A unidade de aquisição de informações de limite de velocidade (22) adquire o limite de velocidade do trajeto de deslocamento do veículo hospedeiro durante o deslocamento. A unidade de geração da velocidade alvo do veículo (23) gera uma aceleração alvo junto com a geração da velocidade alvo do veículo de acordo com o limite de velocidade. A unidade de geração da velocidade alvo do veículo (23) tem uma primeira unidade de computação do limitador de aceleração (231b) que, durante a geração da aceleração alvo, define um limitador de aceleração para aumentar em um sentido de relaxar uma limitação na aceleração de modo correspondente com um aumento no limite de velocidade (figura 6).The present disclosure prevents a passenger from feeling unpleasant sensations and also avoids disruption to traffic flows while driving with assistance, in correspondence with a variety of roads that have different speed limits. A device for generating a target vehicle speed of a vehicle with autonomous steering (vehicle with power steering) equipped with an autonomous steering control unit (2) (controller) for generating a target vehicle speed of a vehicle host in accordance with a speed limit of a host vehicle travel path, in which the autonomous steering control unit (2) comprises a speed limit information acquisition unit (22) and a speed generation unit target of the vehicle (23). The speed limit information acquisition unit (22) acquires the speed limit of the displacement path of the host vehicle during displacement. The vehicle's target speed generation unit (23) generates a target acceleration along with the generation of the vehicle's target speed according to the speed limit. The vehicle's target speed generation unit (23) has a first acceleration limiter computing unit (231b) which, during the generation of the target acceleration, defines an acceleration limiter to increase in order to relax a limitation on acceleration correspondingly with an increase in the speed limit (figure 6).
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2017/024401 WO2019008649A1 (en) | 2017-07-03 | 2017-07-03 | Target vehicle speed generation method and target vehicle speed generation device of driving assistance vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
BR112020000079A2 true BR112020000079A2 (en) | 2020-07-07 |
Family
ID=64949790
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
BR112020000079-5A BR112020000079A2 (en) | 2017-07-03 | 2017-07-03 | vehicle target speed generation method and vehicle target speed generation device for vehicles with power steering |
Country Status (10)
Country | Link |
---|---|
US (1) | US11400932B2 (en) |
EP (1) | EP3650294B1 (en) |
JP (1) | JP6760502B2 (en) |
KR (1) | KR20200022482A (en) |
CN (1) | CN110770105B (en) |
BR (1) | BR112020000079A2 (en) |
CA (1) | CA3068955A1 (en) |
MX (1) | MX2019015812A (en) |
RU (1) | RU2750871C1 (en) |
WO (1) | WO2019008649A1 (en) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7263946B2 (en) * | 2019-07-03 | 2023-04-25 | トヨタ自動車株式会社 | vehicle |
JP7047824B2 (en) | 2019-09-12 | 2022-04-05 | トヨタ自動車株式会社 | Vehicle control unit |
CN111179590B (en) * | 2019-12-24 | 2020-11-20 | 山东国惠安创智能物联发展有限公司 | Remote control method and server for driving speed of electric vehicle |
JP7327210B2 (en) * | 2020-02-28 | 2023-08-16 | いすゞ自動車株式会社 | Driving support device |
JP7140153B2 (en) * | 2020-03-03 | 2022-09-21 | トヨタ自動車株式会社 | display controller |
US11623662B2 (en) * | 2020-05-08 | 2023-04-11 | Baidu Usa Llc | Planning system for speed limit changes for autonomous vehicles |
JP7154256B2 (en) * | 2020-07-06 | 2022-10-17 | 本田技研工業株式会社 | Control device, control method and program |
CN114355868A (en) * | 2020-09-27 | 2022-04-15 | 财团法人车辆研究测试中心 | Dynamic speed planning method and system for self-driving |
US11681780B2 (en) * | 2020-09-30 | 2023-06-20 | Nissan North America, Inc. | Annotation and mapping for vehicle operation in low-confidence object detection conditions |
CN112477630B (en) * | 2020-12-04 | 2022-06-24 | 江苏科技大学 | Control method for improving starting comfort of electric vehicle |
JP7211551B1 (en) * | 2021-05-28 | 2023-01-24 | 日産自動車株式会社 | Operation control method and operation control device |
US20230117152A1 (en) * | 2021-10-18 | 2023-04-20 | Kawasaki Motors, Ltd. | Control requirement determiner, rough terrain vehicle, and control requirement determining method |
CN113895446B (en) * | 2021-12-13 | 2022-02-22 | 智道网联科技(北京)有限公司 | Method, device, equipment and storage medium for determining speed of automatic driving vehicle |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
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JP3656464B2 (en) * | 1999-06-15 | 2005-06-08 | 日産自動車株式会社 | Leading vehicle tracking control device |
DE19938266A1 (en) * | 1999-08-12 | 2001-02-15 | Volkswagen Ag | Method and equipment for visual recognition of traffic signs, electronically identifies obscure traffic signs by comparison with known signs |
DE10241059A1 (en) * | 2002-09-05 | 2004-03-18 | Robert Bosch Gmbh | Method and device for limiting the speed of a vehicle |
DE10358968B4 (en) * | 2003-12-16 | 2012-04-26 | Bayerische Motoren Werke Aktiengesellschaft | Vehicle speed control device for a motor vehicle, which is connected to a navigation system |
JP4807107B2 (en) * | 2006-03-02 | 2011-11-02 | 日産自動車株式会社 | Vehicle travel control device |
JP2007255382A (en) * | 2006-03-24 | 2007-10-04 | Toyota Motor Corp | Device and method of controlling travel of vehicle |
US8055427B2 (en) * | 2008-12-18 | 2011-11-08 | GM Global Technology Operations LLC | Method and apparatus for speed-limit following cruise control |
JP5146420B2 (en) * | 2009-07-14 | 2013-02-20 | トヨタ自動車株式会社 | Driving support device |
GB2499657B (en) * | 2012-02-27 | 2018-07-11 | Ford Global Tech Llc | Vehicle speed control apparatus and method |
DE102012104069B3 (en) * | 2012-05-09 | 2013-03-14 | Continental Teves Ag & Co. Ohg | Method for operating assistance system of vehicle i.e. motor car, involves outputting track recommendation to driver of vehicle depending on actual speed of vehicle and tentative velocity recommendation specified for multiple lanes |
KR101358330B1 (en) * | 2012-09-26 | 2014-02-12 | 현대모비스 주식회사 | Vehicle control speed apparatus, vehicle control speed system comprising the same and method thereof |
DE102014215671A1 (en) | 2014-08-07 | 2016-02-11 | Bayerische Motoren Werke Aktiengesellschaft | Driver assistance system in a motor vehicle |
JP6191644B2 (en) | 2015-03-26 | 2017-09-06 | トヨタ自動車株式会社 | Vehicle speed limiter |
JP5982034B1 (en) * | 2015-03-30 | 2016-08-31 | 富士重工業株式会社 | Vehicle driving support system |
JP6418062B2 (en) | 2015-05-19 | 2018-11-07 | トヨタ自動車株式会社 | Vehicle speed control device and vehicle |
JP2017001485A (en) * | 2015-06-09 | 2017-01-05 | トヨタ自動車株式会社 | Vehicular drive support apparatus |
EP3144197B1 (en) * | 2015-09-15 | 2021-07-14 | Ford Global Technologies, LLC | Method for automatically adapting acceleration in a motor vehicle |
-
2017
- 2017-07-03 US US16/617,012 patent/US11400932B2/en active Active
- 2017-07-03 BR BR112020000079-5A patent/BR112020000079A2/en active Search and Examination
- 2017-07-03 MX MX2019015812A patent/MX2019015812A/en unknown
- 2017-07-03 EP EP17917114.5A patent/EP3650294B1/en active Active
- 2017-07-03 CN CN201780091967.7A patent/CN110770105B/en active Active
- 2017-07-03 KR KR1020207002732A patent/KR20200022482A/en not_active Application Discontinuation
- 2017-07-03 JP JP2019528216A patent/JP6760502B2/en active Active
- 2017-07-03 WO PCT/JP2017/024401 patent/WO2019008649A1/en unknown
- 2017-07-03 CA CA3068955A patent/CA3068955A1/en not_active Abandoned
- 2017-07-03 RU RU2020104286A patent/RU2750871C1/en active
Also Published As
Publication number | Publication date |
---|---|
RU2750871C1 (en) | 2021-07-05 |
CN110770105A (en) | 2020-02-07 |
EP3650294A1 (en) | 2020-05-13 |
KR20200022482A (en) | 2020-03-03 |
CA3068955A1 (en) | 2019-01-10 |
JPWO2019008649A1 (en) | 2020-03-19 |
EP3650294A4 (en) | 2020-08-26 |
WO2019008649A1 (en) | 2019-01-10 |
CN110770105B (en) | 2022-07-05 |
JP6760502B2 (en) | 2020-09-23 |
US20210276550A1 (en) | 2021-09-09 |
EP3650294B1 (en) | 2022-03-23 |
MX2019015812A (en) | 2020-02-07 |
US11400932B2 (en) | 2022-08-02 |
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Legal Events
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B350 | Update of information on the portal [chapter 15.35 patent gazette] | ||
B06W | Patent application suspended after preliminary examination (for patents with searches from other patent authorities) chapter 6.23 patent gazette] | ||
B09A | Decision: intention to grant [chapter 9.1 patent gazette] | ||
B09W | Correction of the decision to grant [chapter 9.1.4 patent gazette] |
Free format text: RETIFICACAO DO DESPACHO 9.1 PUBLICADO NA RPI 2744 DE 08/08/2023 |